CN102458246A - Motion determination apparatus - Google Patents
Motion determination apparatus Download PDFInfo
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- CN102458246A CN102458246A CN2010800244650A CN201080024465A CN102458246A CN 102458246 A CN102458246 A CN 102458246A CN 2010800244650 A CN2010800244650 A CN 2010800244650A CN 201080024465 A CN201080024465 A CN 201080024465A CN 102458246 A CN102458246 A CN 102458246A
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- motor message
- accelerometer
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/1102—Ballistocardiography
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
- A61B5/113—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb occurring during breathing
- A61B5/1135—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb occurring during breathing by monitoring thoracic expansion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0219—Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
Abstract
The invention relates to a motion determination apparatus for determining motion of a moving object, wherein the motion determination apparatus (1) comprises a multi-axial accelerometer (2) for being positioned at the moving object (4), wherein the multi-axial accelerometer (2) is adapted to generate accelerometer signals indicative of the acceleration along different spatial axes. The motion determination apparatus further comprises a motion signal generation unit (3) for generating a motion signal indicative of the motion of the object (4) by combining the accelerometer signals of different spatial axes. The combination of the accelerometer signals of different spatial axes yields a motion signal having a large signal-to-noise ratio, even if an axis is located close to a rotational axis of the movement.
Description
Technical field
The present invention relates to a kind of moving and confirm equipment and a kind of method that is used for confirming the motion motion of objects.The invention still further relates to a kind of computer program of correspondence.
Background technology
WO 2004/043263A2 discloses a kind of respirometric device of humans and animals monitoring on one's body that is used for, and it is used for the control breathing motion, especially controls baby's the asphyxia time.This device comprises accelerometer and microcontroller, and wherein, accelerometer comprises motion detector and a plurality of output plug, and wherein, microcontroller comprises a plurality of input sockets.A plurality of output plugs are connected to said a plurality of input socket, and microcontroller comprises the signal output that is connected to alarm module (means).
Summary of the invention
The respirometric device of disclosed monitoring depends on the accelerometer signal along single spatial axes among the WO 2004/043263A2.Owing to be to cause in this accelerometer signal by change in orientation with respect to gravity with breathing relevant variation; So when spatial single orientation with respect to gravity changes because of breathing, can not go wrong; Because in this case, utilize said single axle can not monitor breathing.For example, be rotation if breathe the motion bring out around spatial single axle self, no matter with respect to the orientation of gravity how it, all maybe this thing happens.In addition, be around rotating shaft rotation if breathe the motion of bringing out near the single axle in the space of accelerometer, only measure little accelerometer signal with low signal-to-noise ratio.This has reduced the quality of breathing the accelerometer signal that causes.
The purpose of this invention is to provide a kind of motion that is used for definite motion motion of objects and confirm equipment and method, wherein, generate the motor message of indication motion through utilizing accelerometer, and wherein, improved the quality of motor message.
In first aspect of the present invention, provide a kind of motion that is used for definite motion motion of objects to confirm equipment, wherein, this motion confirms that equipment comprises:
-multiaxis accelerometer, it is used to be positioned at motion object place, and wherein, said multiaxis accelerometer is suitable for generating the accelerometer signal of indication along the acceleration of different spaces axle,
-motor message generation unit, it is used for generating through the accelerometer signal of combination different spaces axle the motor message of the said motion of objects of indication.
Because accelerometer is the multiaxis accelerometer, so the accelerometer signal of another in the axle of the motion generation multiaxis accelerometer of the rotation of conduct in the axle of multiaxis accelerometer changes.So even the rotating shaft of the motion that rays close should be surveyed by the multiaxis accelerometer, the accelerometer signal of combination different spaces axle also produces big and motor message that have big signal to noise ratio.Improved signal like this, i.e. the quality of motor message, and therefore be convenient to further processing to signal.For example, be used for confirming automatically the algorithm of breathing rate or heart rate,, particularly,, then generate the result who improves if increased the signal to noise ratio of motor message if the quality of the motor message of this deterministic process institute foundation improves from motor message.
The multiaxis accelerometer preferably is suitable for generating the three axis accelerometer of indication along three accelerometer signal of the acceleration of three orthogonal space countershafts; Wherein, the motor message generation unit is suitable for making up the motor message of these three accelerometer signal with the motion of generation denoted object.
Preferably, said multiaxis accelerometer is suitable for being positioned on people's the body part, and wherein, said motor message generation unit is suitable for generating assignor's breathing and at least one motor message in the cardiomotility.
In order to generate the motor message that indication is breathed, multiaxis accelerometer preferred orientation below rib place, roughly half place between central authorities and side position.Yet the multiaxis accelerometer can also be positioned at other positions, for example, and at abdominal part, particularly, if because when causing restriction as the health physique of postoperative wound.
In order to generate the motor message of indication heart rate, multiaxis accelerometer preferred orientation is in the left side of abdominal part/thorax.In addition, preferably degree of will speed up meter is positioned at rib place, below, particularly, and in the rib lower left.Another optimum position of multiaxis accelerometer that is used to generate the motor message of indication heart rate is the position under more on position higher on the thorax or the abdominal part.Particularly, in order to measure the motor message of indication heart rate, also be preferred for confirming to indicate the optimum position of the motor message of breathing.Particularly, indication is breathed and the motor message of heart rate in order to generate, and preferably the multiaxis accelerometer is positioned at rib place, below, left side central authorities-half place, side position.
Preferably, said motion is confirmed that equipment also comprises according to the motor message that is generated and is confirmed that the breathing rate of breathing rate confirms that the heart rate of unit and definite heart rate confirms the unit.
Allow like this breathing rate and/or heart rate are carried out comfortable, low-cost, continuous and mobile monitoring.
In an embodiment, if in the state of holding one's breath, generated accelerometer signal, the motor message fundamental frequency that is generated is a heart rate.If when the people breathes, generate accelerometer signal, think that then the fundamental frequency of motor message is corresponding to breathing rate.
Preferably, said motion confirms that equipment also comprises filtering (filtering) unit, and it is used for accelerometer signal is carried out filtering, makes to pass through filter unit corresponding to the frequency of the possible frequency of the motion that will confirm.
Noise and the undesirable environmental effect of possibility have been reduced like this to accelerometer signal.If motor message should be indicated breathing, filter unit preferably is suitable for the filtering accelerometer signal, makes to pass through filter unit corresponding to the frequency of respirometric possibility frequency.In this case, the frequency in 0.1 to 2Hz the frequency range is preferably passed through filter unit.If the motor message generation unit is suitable for generating the motor message of assignor's cardiomotility; Filter unit preferably is suitable for the filtering accelerometer signal; Make and to pass through filter unit corresponding to the frequency of the possible frequency of cardiomotility; For example, filter unit can be suitable for the filtering accelerometer signal, makes 0.5Hz pass through filter unit to the frequency in the frequency range of 3Hz.
Further preferably, said motor message generation unit is suitable for repeatedly generating motor message based on the accelerometer signal that generates in formerly the time frame on the time.
Can be directed against practical situation like this, for example,, adjust the combination of accelerometer signal to the actual axle orientation of multiaxis accelerometer.For example, even the people changes his/her posture, so also allow to confirm assignor's breathing and at least one motor message in the cardiomotility.Time frame for example is 20 seconds or littler time frame.
Further preferably, said motor message generation unit is suitable for making up accelerometer signal, makes the accelerometer signal major part with peak acceleration variation contribute to motor message.
Be considered to have maximum signal to noise ratio owing to have the accelerometer signal of peak acceleration variation; Through the combination accelerometer signal; Make accelerometer signal major part contribute to motor message, can improve the signal to noise ratio of motor message with peak acceleration variation.Preferably, the motor message generation unit is suitable for making up accelerometer signal, makes the accelerometer signal major part that in the frequency range corresponding to the motion that will confirm, has the peak acceleration variation contribute to motor message.
Further preferably, said motor message generation unit is suitable for the accelerometer signal of linear combination different spaces axle, wherein, accelerometer signal is carried out weighting, makes the accelerometer signal with peak acceleration variation have weight limit.
The motor message generation unit preferably is suitable for confirming according to the corresponding accelerometer signal and the dependency of the accelerometer signal with peak acceleration variation the weight of accelerometer signal; Wherein, If corresponding dependency is bigger, then the weight of corresponding accelerometer signal is bigger.
Allow to generate motor message like this, make accelerometer signal major part contribute to motor message with peak acceleration variation.
Preferred use so-called " sample correlation coefficient " or " Pearson product moment correlation coefficient " confirmed dependency.
Further preferably; Said motor message generation unit is suitable for confirming according to the corresponding accelerometer signal and the dependency of the accelerometer signal with peak acceleration variation the weight of accelerometer signal; Wherein, the weight of corresponding accelerometer signal is the sign of dependency.
Permission is made up it according to the phase relation of the accelerometer signal of different spaces axle like this, makes the accelerometer signal major part with peak acceleration variation contribute to the motor message that is generated.
Further preferably, said motor message generation unit is suitable for the accelerometer signal of different spaces axle is used principal component analysis, and the component motion of confirming the motion that indication will be confirmed from the principal component of using the principal component analysis gained is as motor message.So the component of selecting principal component is as component motion, i.e. motor message.Preferably, the motor message generation unit is suitable for confirming that first principal component is as the motor message that is generated.
And; Use principal component analysis, and use, particularly; The gained component of the principal component of winning allows the combination accelerometer signal as the motor message that generates, and makes the accelerometer signal major part with peak acceleration variation contribute to the motor message that is generated.
Preferably standard orthogonal linear transformation of principal component analysis; Its degree of will speed up signal transforms to new coordinate system; The feasible maximum variance that is caused by any projection of data is positioned on first principal component, and second largest variance is positioned on second principal component, and the 3rd maximum variance is positioned on the 3rd principal component.
Further preferably; Said motor message generation unit is suitable for confirming to each spatial axes of accelerometer the maximization projection signal of acceleration change; And through combination maximization projection signal generation motor message; Wherein, The projection gravitational vectors is with respect to the motion of the spatial axes of accelerometer and the corresponding axis in the said subspace of conversion on the subspace that the motor message generation unit is suitable for defining through the additional space axle at gravitational vectors and accelerometer, and the feasible projection of motion on the corresponding axis of conversion that has projected to the projection of the gravitational vectors in the subspace maximizes, and confirms the maximization projection signal of the spatial axes of accelerometer.Said subspace is preferably the plane.The nominal gravitational vectors is the vector that is orientated like this, makes the meansigma methods of its indication gravitational vectors with respect to the motion of the different spaces axle of accelerometer, promptly can the motion of gravitational vectors be described as the variation with respect to the nominal gravitational vectors.
Further preferably, said motor message generation unit is suitable for the vector size through confirming maximization projection signal and generates motor message through at least one the symbol that makes up in determined vector size and the maximization projection signal.Preferably, the vector size of confirming multiply by at least one the symbol in the maximization projection signal.Further preferably, determined vector size multiply by the symbol of maximization projection signal with amplitude peak.
Allow to generate the motor message of signal to noise ratio like this with increase.
Further preferably, said motor message generation unit is suitable for maximization projection signal is used principal component analysis, and wherein, first principal component of gained is the motor message that is generated.
So also allow the accelerometer signal of combination different spaces axle, make accelerometer signal major part contribute to the motor message that is generated with peak acceleration variation.
Further preferably, the said motor message generation unit component motion that is suitable for the accelerometer signal of different spaces axle is used independent component analysis and confirmed the motion that indication will be confirmed according to the isolated component of using the independent component analysis gained is as motor message.So the component of selecting isolated component is as component motion, promptly as motor message.
So also allow to generate motor message, make accelerometer signal major part contribute to motor message with peak acceleration variation.
Preferably, utilize the algorithm of the temporal correlation in the signal, for example so-called SOBI algorithm is used to accelerometer signal is carried out independent component analysis.The SOBI algorithm is disclosed in following article: " A blind source separation technique using second order statistics "; People such as Belouchrani A.; IEEE Trans Signal Process; 45 (2): 434-444, in February, 1997, incorporate it at this by reference.
Can be through confirming to confirm to come the isolated component of self-application independent component analysis gained, the component motion of the motion that its indication will be confirmed at the isolated component that preset frequency has an amplitude peak.For example, if should confirm breathing rate or heart rate based on motor message, the isolated component that will in the frequency interval corresponding to possible breathing rate or heart rate, have amplitude peak is confirmed as component motion.
Motion confirms that equipment preferably includes some multiaxis accelerometers; It is used for being positioned at object with complimentary positions; Wherein, the motor message generation unit accelerometer signal that is suitable for the different spaces axle through making up some multiaxis accelerometers generates the motor message of denoted object motion.
Allow further to increase signal to noise ratio like this and further reduce the not probability of definite object motion.If the motion of two positions on the object is different, particularly,, preferably think these two positions on the object complementary if the variation with respect to the exercise induced of gravity is different in these two positions.Particularly; If is different by breathing or by the motion that cardiomotility brings out in these positions; If the variation that variation that especially breathing is brought out for gravity or cardiomotility bring out is different in these positions, think that then these two positions on the object are complementary.
If motion confirms that equipment comprises some multiaxis accelerometers, the motor message generation unit preferably is suitable for generating motor message through the accelerometer signal of utilizing principal component analysis or the independent component analysis different spaces axle through making up some multiaxis accelerometers.
Preferably, two multiaxis accelerometers in location on object particularly, are preferably located two three axis accelerometers on object.First accelerometer preferably is positioned at as stated and for example descends rib, and second accelerometer is preferably placed at the central authorities of top thorax, for example at the breastbone place.
In another aspect of this invention, provide a kind of motion that is used for definite motion motion of objects to confirm method, wherein, this motion confirms that method may further comprise the steps:
-generate the accelerometer signal of indication by the multiaxis accelerometer that is positioned at said motion object place along the acceleration of different spaces axle,
-generate the motor message of indicating said motion of objects through the accelerometer signal that makes up the different spaces axle by the motor message generation unit.
In another aspect of this invention; A kind of computer program that is used for confirming the motion motion of objects is provided; Wherein, This computer program comprises code modules, and when operation on the computer of confirming equipment at controlled motion during computer program, it is used to make motion according to claim 1 to confirm that equipment carries out motion according to claim 14 and confirm method.
Equipment is confirmed in the motion that should be appreciated that claim 1, and the motion of claim 14 confirms that the computer program of method and claim 15 has similar and/or identical preferred embodiment, particularly, and those as being limited in the dependent claims.
Should be appreciated that the preferred embodiments of the present invention can also be the combination in any of dependent claims and corresponding independent claims.
Description of drawings
With reference to the embodiments described below, of the present invention these will obviously and be able to set forth with other aspects.In following accompanying drawing:
Schematic and the exemplary embodiment that shows the definite equipment of motion of Fig. 1;
Exemplary three accelerometer signal before object changes posture and the motor message that generates through the combination accelerometer signal of showing of Fig. 2;
Fig. 3 is exemplary to be shown three accelerometer signal after object changes posture and makes up the motor message that accelerometer signal generates;
Fig. 4 illustrates the spatial relationship between the different spaces axle of gravitational vectors and accelerometer;
Fig. 5 illustrates the motion of gravitational vectors with respect to the different spaces axle of accelerometer;
Fig. 6 shows the subspace of one of different spaces axle of accelerometer;
Fig. 7 shows another embodiment that equipment is confirmed in motion; And
Fig. 8 shows flow chart, its exemplary illustration motion confirm the embodiment of method.
The specific embodiment
Fig. 1 schematically is used for confirming that with exemplary showing the motion of motion motion of objects confirms equipment.Motion confirms that equipment 1 comprises the multiaxis accelerometer 2 that is used to be positioned on the motion object 4.Multiaxis accelerometer 2 is suitable for generating the accelerometer signal of indication along the acceleration of different spaces axle.In this embodiment, the multiaxis accelerometer is a three axis accelerometer, and it is suitable for generating three accelerometer signal of indication along the acceleration of three orthogonal space countershafts.For example, can use the three axis accelerometer of ST Microelectronics LIS344ALH by name or Kionix KXM 52.Yet, also can use the multiaxis accelerometer of other kinds to generate the accelerometer signal of indication along the acceleration of different spaces axle.
Motion confirms that equipment 1 also comprises motor message generation unit 3, and it is used for generating through the accelerometer signal of combination different spaces axle the motor message of the motion of denoted object 4.In this embodiment, motor message generation unit 3 is suitable for making up the motor message of three accelerometer signal of three axis accelerometer 2 with the motion of generation denoted object 4.
In this embodiment, object 4 is people's a health 4, and wherein, multiaxis accelerometer 2 is positioned on people's the health 4, and wherein, motor message generation unit 3 is suitable for generating assignor's breathing and at least one motor message in the cardiomotility.
Motion confirms that equipment 1 also comprises the filter unit 7 that is used for accelerometer signal is carried out filtering, makes possibly the corresponding frequency of frequency pass through filter unit 7 with the motion that will confirm.Noise and the undesirable environmental effect of possibility have been reduced like this to accelerometer signal.In this embodiment, motor message should be indicated breathing rate or heart rate.Therefore filter unit 7 is suitable for accelerometer signal is carried out filtering, makes the corresponding frequency of possible frequency of the motion that causes with respiratory movement or by cardiomotility pass through filter unit.Particularly, filter unit 7 can be suitable for filtering 0.1 to the interior frequency of 3Hz frequency range.Can also breathe for definite, filtering 0.1 is to the interior frequency of 2Hz frequency range, and in order to confirm heart rate, frequency in the 3Hz frequency range is arrived in filtering 0.5, that is, and and through filter unit 7.
Motion is confirmed that equipment also comprises according to the motor message that is generated and is confirmed that the breathing rate of breathing rate confirms unit 5 and confirm that according to the motor message that is generated the heart rate of heart rate confirms unit 6.If filter unit 7 is suitable for utilizing the first filter filtering accelerometer signal; Be used for the filtering accelerometer signal to confirm breathing; And if filter unit 7 is suitable for utilizing the second filter cell filtering accelerometer signal; Be used for the filtering accelerometer signal to confirm heart rate; Preferably be independent of the accelerometer signal that the accelerometer signal combination that utilizes second filter filtering utilizes first filter filtering; Wherein, the motor message that is generated by the accelerometer signal of first filter filtering through combination is provided to breathing rate and confirms unit 5, confirms unit 6 and be provided to heart rate through the motor message that combination is generated by the accelerometer signal of second filter filtering.
Preferably confirm that by breathing rate unit 5 confirms to be provided to the fundamental frequency of motor message that breathing rate confirms unit 5 as breathing rate.Preferably through confirming to be provided to the fundamental frequency of motor message that heart rate confirms unit 6 as heart rate.
In another preferred embodiment, confirm that by breathing rate unit 5 confirms in the motor messages that the inverse of the interval between the peak value is as breathing rate in succession.Can confirm the peak value of motor message through the zero passage of identification motor message first derivative.For fear of detecting false peaks, can apply extra restriction to peak value.For example, only those peak values that surpass threshold value in the motor message are used for confirming breathing rate.For example, can confirm threshold value through calibration.
Motor message generation unit 3 is suitable for repeating to generate motor message based on the accelerometer signal that generates in formerly the time frame on the time.Can be directed against practical situation like this, for example,, adjust the combination of accelerometer signal to the actual orientation of multiaxis accelerometer.For example, even the people changes its posture, so also allow to confirm assignor's breathing and at least one motor message in the cardiomotility.Time frame is preferably 20 seconds or littler, further selects 10 seconds or littler, more preferably 5 seconds or littler.
Motor message generation unit 3 is suitable for making up accelerometer signal, makes the accelerometer signal major part with peak acceleration variation contribute to motor message.In this embodiment, motor message generation unit 3 is suitable for the accelerometer signal of different spaces axle is carried out principal component analysis, wherein, and the motor message of first principal component of gained for generating.
The effect of three accelerometer signal of combination will be described with reference to figure 2 and 3 hereinafter, particularly, through carrying out principal component analysis to generate motor message.
Schematic and the exemplary accelerometer signal S that shows the arbitrary unit that depends on time t (second) of Fig. 2
x, S
y, S
zBecause three axis accelerometer is with respect to the reason of the orientation of the motion that will confirm, accelerometer signal S
xShow the maximum that causes by people's motion at place, three axis accelerometer 2 positions and change, and accelerometer signal S
zOnly show little variation.These accelerometer signal S
x, S
y, S
zCombination results motor message M, therefore it shows bigger variation and has bigger signal to noise ratio.
Fig. 3 shows the same accelerometer signal after people 4 posture has changed.After this posture change, accelerometer signal S
zShow maximum variation, and accelerometer signal S
yShow minimum variation.Yet because the combination of three accelerometer signal that motor message generation unit 3 is carried out has generated motor message M, it still shows bigger variation and therefore has bigger signal to noise ratio.So even after people's posture has changed, the motor message that is generated still shows big variation and has big signal to noise ratio.In Fig. 2 and 3, variation or fluctuation in the signal of about four second time are caused by breathing.So, can confirm the breathing rate that per minute is breathed for 15 times from the motor message shown in Fig. 2 and 3.
In another preferred embodiment, the motor message generation unit is suitable for the accelerometer signal of linear combination different spaces axle, wherein, accelerometer signal is carried out weighting, makes the accelerometer signal with peak acceleration variation have weight limit.For example; The motor message generation unit can be suitable for confirming according to the corresponding accelerometer signal and the dependency of the accelerometer signal with peak acceleration variation the weight of accelerometer signal; Wherein, if corresponding dependency is bigger, then the weight of corresponding accelerometer signal is bigger.
Preferably confirm dependency through definite " sample correlation coefficient " or " Pearson product moment correlation coefficient ".
Can describe through linear combination accelerometer signal S by following equation
x, S
y, S
zGenerate motor message M:
M＝w
xS
x+w
yS
y+w
zS
z， (1)
Wherein, w
x, w
y, w
zThe expression corresponding weights.
Preferred definite weighter factor w
x, w
y, w
z, make motor message have maximum signal to noise ratio.These weighter factors depend on the orientation of accelerometer, particularly, depend on the people's that the multiaxis accelerometer is attached to posture, therefore preferred regular update weighter factor w
x, w
y, w
zBased on the accelerometer signal of specific time frame formerly (being preferably 20 seconds or littler), in the regular moment, for example per second calculates weighter factor.Preferably, if weighter factor changed between two moment, the motor message generation unit is suitable between the weighter factor that first definite constantly weighter factor and second is confirmed constantly, carrying out linear interpolation, so that guarantee level and smooth motor message waveform.
In a preferred embodiment, according to the phase relation between the accelerometer signal, weighter factor is+1 or-1.The correlation coefficient that is preferably based between reference axis and other two axles is confirmed symbol, for example, if the x axle is a reference axis, preferably through following equation definition weighter factor:
w
x＝1， (2)
w
y=symbol (C (S
x, S
y)), (3)
w
z=symbol (C (S
x, S
z)), (4)
Wherein, symbol (...) be sign function, and wherein, C (...) correlation coefficient of expression between the corresponding accelerometer signal.Preferably, degree of will speed up meter signal is regarded as reference axis in the accelerometer axis that the possible frequency corresponding to the motion that will confirm flies to have in the frequency range amplitude peak.
Can also be with three accelerometer signal are used the linear combination that determined first principal component of principal component analysis is regarded as three accelerometer signal; Because principal component analysis is orthogonal linear transformation; Particularly; At uncorrelated component, promptly decompose the rotation of three accelerometer signal in the linear hybrid of so-called principal component.The characteristic value decomposition of the covariance matrix through three accelerometer signal obtains principal component.First principal component is the linear combination that the maximum of accelerometer signal is changed contributive three accelerometer signal.For example, be the largest source that changes in the accelerometer signal if breathe, three accelerometer signal are used the principal component analysis generation make the combination of breathing maximized three accelerometer signal of motor message of bringing out as first principal component.In order to ensure breathing is the largest source that accelerometer signal changes; Can be by filter unit 7 filtering accelerometer signal; Make accelerometer signal be limited to and go up the possible corresponding frequency band of breathing rate with the physiology; For example, be limited to 0.1 to 2Hz frequency band, it is breathed for 6 to 120 times corresponding to per minute.
In another embodiment, motor message generation unit 3 is suitable for the accelerometer signal of different spaces axle is used independent component analysis, and according to using component motion that isolated component that independent component analysis obtains confirms the motion that indication will be confirmed as motor message.
Can independent component analysis be regarded as the expansion of principal component analysis, it finds linear combination not only uncorrelated but also the statistical independent accelerometer signal.For this reason, the extraneous information that does not comprise in the independent component analysis algorithm use covariance matrix, the normally statistic of high-order more.Because the motor message that will confirm particularly, is instantaneous relevant by the motor message of breathing and/or cardiomotility causes, and preferably uses the SOBI algorithm to carry out independent component analysis, because the SOBI algorithm has utilized the time structure of accelerometer signal.Dysentery carried out diagonalization simultaneously to one group of covariance matrix when the SOBI algorithm was based on difference.Opposite with principal component analysis, the isolated component that utilizes independent component analysis to obtain is not sorted according to variance.So, even breathe and/or cardiomotility changes to the maximum of accelerometer signal that contribution, the isolated component relevant with breathing and/or heart rate are arranged also may not be first.Therefore the motor message generation unit is suitable for confirming that isolated component is as the motor message of indicating the motion that will confirm.
The motor message generation unit can be suitable for through confirming to have in preset frequency the isolated component of the motion that the indication of amplitude peak will confirm, confirms the component motion of the motion that indication will be confirmed from using isolated component that independent component analysis obtains.For example, if should confirm breathing rate or heart rate based on motor message, the isolated component that its power spectrum is had peak-peak in the frequency interval that corresponds respectively to possible breathing rate or possible heart rate is confirmed as component motion.
In another embodiment, can confirm the isolated component of indication motion based on the mark of having considered additional features.Select to have the component of the isolated component of minimum score then as the indication motion.For example, the certain characteristics sum that can calculate isolated component is as mark:
Wherein, mark (IC
x) mark of x isolated component of expression, the number of the characteristic that N representes to use, F
i(IC
x) expression is directed against the value of i characteristic of x isolated component, and w
iExpression is corresponding to the weight of i characteristic.For example, preferred feature is based on the fundamental frequency of isolated component, the hybrid weight of isolated component, the spectral shape of isolated component etc.Because the change of breathing, heart rate and posture normally takes place along with the time gradually, so also can use the characteristic of the knowledge of breathing, heart rate and/or the posture considered in the previous period.For example, can be with the absolute difference of the fundamental frequency of isolated component in the fundamental frequency of isolated component and previous period as characteristic.For first period of analyzing, the selection of the isolated component of indication motion can only not rely on those characteristics from the knowledge of previous period based on (1), and perhaps initial value is estimated to the characteristic of past data in (2).
In an embodiment, the principal component that can also use the motion that method that the above-mentioned isolated component that will indicate the motion that will confirm confirms as motor message confirms will to confirm from the indication that principal component analysis obtains is as motor message.
In another embodiment; Motor message generation unit 3 is suitable for confirming the maximization projection signal of acceleration change and generating motor message through the maximized projection signal of combination to each spatial axes of accelerometer; Wherein, The motor message generation unit is suitable for through projection gravitational vectors on the subspace of the additional space axis limit of nominal gravitational vectors and accelerometer with respect to the motion of the spatial axes of accelerometer and through the corresponding axis in the varitron space; Make the projection that has projected to the projection campaign of gravitational vectors on the corresponding axis of conversion in the subspace maximize, confirm the maximization projection signal of the spatial axes of accelerometer.
Because because of motion, for example much little because of the inertial acceleration force of gravity acceleration of breathing or cardiomotility causes, so axle, particularly, three normal axis of accelerometer are represented gravitational vectors at each x, y, the projection that z is last.In Fig. 4 exemplary illustration this situation.
Each of accelerometer x, y, the last value of z is the projection of gravitational vectors on corresponding axis.This value is by the angle between gravitational vectors and the corresponding axis, and promptly respectively by angle α, beta, gamma and following equation are confirmed:
S
x＝G·cosα， (6)
S
y＝G·cosβ， (7)
S
z＝G·cosγ， (8)
Wherein, G representes the absolute value of gravitational vectors.
If suppose to occur in the plane owing to the accelerometer motion of for example breathing or cardiomotility causes, can this motion of expression in sensor coordinate system when the nominal position of gravitational vectors G in arbitrary plane 8 seesaws.In Fig. 5 exemplary illustration this situation.In Fig. 5, the complete angular spread on every side of the nominal position of
expression gravitational vectors G.
For each spatial axes x, y, z, by gravitational vectors G and corresponding spatial axes x, y, z defines the subspace, i.e. two dimensional surface.In Fig. 6, be directed against the schematic and exemplary such subspace 9 that shows of z axle.In Fig. 6, γ is illustrated in the angle between the additional space axle of gravitational vectors and accelerometer at nominal position place, and
Be the vector and, i.e. S of gravitational vectors x coordinate and y coordinate
xAnd S
yVector with.
For each spatial axes, the at first motion of projection gravitational vectors on the corresponding subspace that nominal position defined of corresponding spatial axes and gravitational vectors.Next, in this subspace, rotation z axle makes in this new Z axle because the amplitude of variation that the motion of gravitational vectors causes maximization.
In its nominal position, can the projection of gravitational vectors on rotating shaft be written as:
In its extreme position, can the projection of gravitational vectors on rotating shaft be written as:
P
Maximum, z(Δ γ)=-Gcos (γ+Δ γ) sin γ+Gsin (γ+Δ γ) cos γ, (10)
Wherein, Δ γ representes the angular spread on every side of the nominal position of gravitational vectors in respective subspace, and γ representes the nominal value of γ.
Utilize trigonometric sum formula composite equation (9) and (10) to show, the gained amplitude of the rotating and projection of gravitational vectors is relevant with angular spread Δ γ:
Δ P
Maximum, z=Gsin (Δ γ).(11)
" sin (Δ γ) " item is an acceleration change, i.e. the maximization projection of acceleration change in the subspace of motion, and this variation is preferably caused by breathing or cardiomotility.In order to utilize equation (9) to confirm maximization projection signal, promptly, must confirm sin γ or cos γ in order to confirm Gsin (Δ γ).Can be according to following equation determined value cos γ, thus also determined value sin γ:
Wherein, average (S
z) be the meansigma methods of accelerometer signal on for example 20 seconds or littler period of z axle,
Wherein, average (maximum (S
z)) be the accelerometer signal S of z axle
zThe meansigma methods of peak amplitude, and
Wherein, average (minimum (S
z)) be the accelerometer signal S of z axle
zThe meansigma methods of valley amplitude.Equation (12) is to utilize the Taylor expansion of the projection of ideal movements signal to derive.
To other axles, promptly x axle and y axle are correspondingly carried out the above-mentioned deterministic process to the maximization projection signal of z axle, make for each spatial axes of accelerometer, confirm maximized projection signal.
In this embodiment, the motor message generation unit is suitable for making up three spatial axes x, y, the P of maximization projection signal of z
Maximum, x, P
Maximum, y, P
Maximum, z, be used to generate motor message.The motor message generation unit can be suitable for through utilizing principal component analysis to carry out this combination, wherein, and the motor message of first principal component for generating.The vector size that the motor message generation unit can also be suitable for confirming three maximization projection signals is to generate motor message.Preferably carrying out this of vector size according to following equation confirms:
Wherein, symbol (...) the expression sign function, and P
Maximum, i is maximumBe maximization projection with largest motion signal amplitude, that is, wherein, the maximization projection that the maximum indication of index i has maximum signal amplitudes, i.e. x, y or z.
Fig. 7 shows another embodiment that equipment is confirmed in motion, and it comprises some multiaxis accelerometers 2,10, particularly; Be two three axis accelerometers; Be used for being positioned on one's body the people 4 with complimentary positions, wherein, filter unit 7 is suitable for the accelerometer signal of these multiaxis accelerometers 2,10 of filtering; And wherein; The motor message generation unit is suitable for the motion that accelerometer signal through the different spaces axle that makes up some multiaxis accelerometers 2,10 generates assignor 4, particularly, and the motor message of the motion that indication is caused by people 4 breathing and/or cardiomotility.In this embodiment, the motor message generation unit preferably is suitable for generating motor message through the accelerometer signal of utilizing above-mentioned principal component analysis or the above-mentioned independent component analysis different spaces axle through making up some multiaxis accelerometers 2,10.Particularly, each three axis accelerometer 2,10 generates three orthogonal accelerometer signal, promptly generates six accelerometer signal, wherein, uses principal component analysis or independent component analysis to these six accelerometer signal.
Hereinafter, will exemplarily describe the motion that is used for definite motion motion of objects with reference to the flow chart shown in the figure 8 and confirm method.
In step 201, generate the accelerometer signal of indication along the acceleration of different spaces axle through being positioned at people 4 multiaxis accelerometer on one's body.In step 202; The accelerometer signal that filter unit 7 filtering are generated; And in step 203; The motor message generation unit generates the motor message of assignor 4 motion through the accelerometer signal of combination different spaces axle, particularly, generates indication by breathing and/or the motor message of the motion that cardiomotility causes.
In step 204,, confirm unit 5 definite breathing rates and/or confirm unit 6 definite hearts rate by heart rate by breathing rate according to the motor message that is generated.
Motion confirms that equipment comprises one or more multiaxis accelerometers, preferably is located chest and/or abdominal part the people, breathes and/or heart rate so that particularly under flox condition, monitor.Opposite with known respiratory monitoring system based on accelerometer (it depends on the accelerometer data of single axle), motion according to the present invention confirms that equipment has utilized the accelerometer signal of different spaces axle simultaneously.This is especially helpful under flox condition, and wherein, the orientation of accelerometer not only changes because of breathing or cardiomotility, and changes because of posture and patient moving.
The multiaxis accelerometer is used as the motion of inclinometer with reflection object, and particularly, reflection is by abdominal part or the chest exercise breathed and/or cardiomotility causes.Tilt variation by the subject surface of locating the multiaxis accelerometer reflects said motion.Some spatial axes of multiaxis accelerometer are three normal axis preferably, the record accelerometer signal, and it equals the projection on gravitational vectors each in these.Because the component S of gravitational vectors
x, S
y, S
zBe to confirm, so can be by accelerometer signal S by the angle between gravitational vectors and each corresponding axis
x, S
y, S
zThe change of tilting of the accelerometer that causes by motion of objects of variation reflection, wherein, suppose to compare with gravity, another external acceleration of object is also to accelerometer signal S
x, S
y, S
zContribution is arranged.At least under the situation that must in flowing environment, generate the motor message of indicating the motion that is caused by breathing and/or cardiomotility, this hypothesis is set up.
Motion confirms that equipment can be used for patient-monitoring, particularly, and with the severe case outside the auxiliary detection intensive care zone.
Motion confirms that equipment makes up the accelerometer signal of different spaces axle with best and automatization's mode, makes the signal to noise ratio of motor message (being preferred for definite breathing rate and/or heart rate) have the signal to noise ratio of optimization.Particularly, even the posture of object, for example, monitored people's posture changes, and motion confirms that equipment also allows the optimum combination from motion tracking different spaces axis accelerometer signal.Particularly, the amplitude of the motor message of generation is generally greater than each the amplitude in the accelerometer signal of the different spaces axle of accelerometer.Preferably monitoring in flowing environment at the one or more multiaxis accelerometers of use uses said motion to confirm equipment in being provided with of breathing and/or heart rate.
Noise in the different spaces axle is generally uncorrelated, and motor message generally is correlated with.Accelerometer signal through combination different spaces axle generates motor message, therefore can improve signal to noise ratio.Particularly; Preferred adjustment motor message generation unit; Make orientation regardless of object and motion, the ratio of variation relevant and relevant variation with noise with motion at least with each spatial axes of motion associated change with maximum and noise associated change ratio in the same big.
Although in the above-described embodiments, the multiaxis accelerometer preferably has three normal axis, and the multiaxis accelerometer also can have two normal axis or surpass three axles.In addition, spatial axes also can comprise another angle, that is, axle can be non-orthogonal in another embodiment.
Although in the above-described embodiments; Used one or two multiaxis accelerometer; Also can use above two accelerometers and confirm motion of objects, particularly, be used for confirming the motor message of denoted object motion and confirm breathing rate and/or heart rate according to determined motor message.
Through research accompanying drawing, description and claims, those skilled in the art can understand in the middle of the process of the present invention for required protection and implement other modification to the disclosed embodiments putting into practice.
In claim, " comprising ", other elements or step do not got rid of in a speech, and indefinite article " " or " one " do not get rid of a plurality of elements or step.
Individual unit or device can be realized several function enumerating in the claim.Some measure of statement does not represent advantageously to adopt the combination of these measures in mutually different dependent claims.
Unit that can any other quantity or device are carried out by what one or several unit or device were carried out and are confirmed, for example confirm the filtering of motor message, breathing rate or heart rate and accelerometer signal.For example, can carry out confirming of motor message and according to motor message confirming by individual unit or by the different units of any other quantity to breathing rate and/or heart rate.Can be with confirming that according to the motion of the definite method of motion confirming of equipment and/or filtering and/or control are embodied as the program code and/or the specialized hardware of computer program.
Can computer program be stored/be distributed in the middle of the suitable medium; For example; Said medium can be optical storage media or provide with other hardware or as the solid dielectric of the part of other hardware, still, said computer program is distributed through other forms; For example, through the Internet or other wired or wireless electronic communication systems.
Any Reference numeral in the claim should not be regarded as the formation restriction to scope.
Claims (15)
1. equipment is confirmed in a motion that is used for definite motion motion of objects, and wherein, said motion confirms that equipment (1) comprising:
-multiaxis accelerometer (2), it is used to be positioned at said motion object (4) locates, and wherein, said multiaxis accelerometer (2) is suitable for generating the accelerometer signal of indication along the acceleration of different spaces axle,
-motor message generation unit (3), it is used for generating through the said accelerometer signal of combination different spaces axle the motor message of the said motion of the said object of indication (4).
2. equipment is confirmed in motion according to claim 1; Wherein, Said multiaxis accelerometer (2) is suitable for being positioned at people's health (4) to be located, and wherein, said motor message generation unit (3) is suitable for generating the said people's of indication breathing and at least one motor message in the cardiomotility.
3. equipment is confirmed in motion according to claim 2; Wherein, said motion is confirmed that equipment (1) also comprises and is used for confirming that according to the motor message that is generated the breathing rate of breathing rate confirms that the heart rate of unit (5) and definite heart rate confirms at least one of unit (6).
4. equipment is confirmed in motion according to claim 1; Wherein, Said motion confirms that equipment (1) also comprises filter unit (7), and it is used for said accelerometer signal is carried out filtering, makes the frequency corresponding with the possible frequency of the said motion that will confirm through said filter unit (7).
5. equipment is confirmed in motion according to claim 1, and wherein, said motor message generation unit (3) is suitable for repeating to generate said motor message based on the accelerometer signal that generates in formerly the time frame on the time.
6. equipment is confirmed in motion according to claim 1, and wherein, said motor message generation unit (3) is suitable for making up said accelerometer signal, makes that the accelerometer signal with peak acceleration variation is maximum to said motor message contribution.
7. equipment is confirmed in motion according to claim 1; Wherein, Said motor message generation unit (3) is suitable for making up linearly the said accelerometer signal of different spaces axle; Wherein, said accelerometer signal is carried out weighting, make accelerometer signal have weight limit with peak acceleration variation.
8. equipment is confirmed in motion according to claim 7; Wherein, Said motor message generation unit (3) is suitable for confirming according to the accelerometer signal and the dependency of the accelerometer signal with peak acceleration variation the weight of corresponding accelerometer signal; Wherein, the weight of said corresponding accelerometer signal is the symbol of said dependency.
9. equipment is confirmed in motion according to claim 1; Wherein, said motor message generation unit (3) is suitable for the said accelerometer signal of said different spaces axle is used principal component analysis and from using component motion that the resulting principal component of said independent component analysis confirms the said motion that indication will be confirmed as said motor message.
10. equipment is confirmed in motion according to claim 1; Wherein, Said motor message generation unit (3) is suitable for each spatial axes to said accelerometer and confirms the maximization projection signal of said acceleration change and generate said motor message through making up said maximization projection signal; Wherein, Said motor message generation unit is suitable in the following manner confirming the said maximization projection signal of the spatial axes of said accelerometer: the projection gravitational vectors makes the projection of motion on the corresponding axis of institute's conversion of institute's projection of having projected to the said gravitational vectors in the said subspace maximize with respect to the motion of the said spatial axes of said accelerometer and the corresponding axis in the said subspace of conversion on the subspace that the additional space axle by nominal gravitational vectors and said accelerometer defines.
11. equipment is confirmed in motion according to claim 10; Wherein, said motor message generation unit (3) is suitable for the vector size through confirming said maximization projection signal and generates said motor message through at least one the symbol that makes up in determined vector size and the said maximization projection signal.
12. equipment is confirmed in motion according to claim 10, wherein, motor message generation unit (3) is suitable for said maximization projection signal is used principal component analysis, and wherein, resulting first principal component is the motor message that is generated.
13. equipment is confirmed in motion according to claim 1; Wherein, motor message generation unit (3) is suitable for the said accelerometer signal of said different spaces axle is used independent component analysis and from using component motion that the resulting isolated component of said independent component analysis confirms the said motion that indication will be confirmed as said motor message.
14. method is confirmed in a motion that is used for the motion of definite motion object (4), wherein, said motion confirms that method comprises the steps:
-generate the accelerometer signal of indication by being positioned at the multiaxis accelerometer (2) that said motion object (4) locates along the acceleration of different spaces axle,
-generate the motor message of the said motion of the said object of indication (4) through the said accelerometer signal of combination different spaces axle by motor message generation unit (3).
15. computer program that is used for the motion of definite motion object (4); Wherein, Said computer program comprises when confirming on the computer of equipment (1) the said computer program of operation in control motion according to claim 1, is used to make said motion to confirm that equipment (1) carries out the code modules that the step of method is confirmed in motion according to claim 14.
Applications Claiming Priority (3)
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| EP09162004.7 | 2009-06-05 | ||
| PCT/IB2010/052466 WO2010140130A1 (en) | 2009-06-05 | 2010-06-02 | Motion determination apparatus |
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| CN102458246B CN102458246B (en) | 2014-09-17 |
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| US (1) | US9510775B2 (en) |
| EP (2) | EP2263532A1 (en) |
| JP (1) | JP5784590B2 (en) |
| CN (1) | CN102458246B (en) |
| BR (1) | BRPI1008187A2 (en) |
| RU (1) | RU2546407C2 (en) |
| WO (1) | WO2010140130A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP2263532A1 (en) | 2010-12-22 |
| RU2546407C2 (en) | 2015-04-10 |
| EP2437662A1 (en) | 2012-04-11 |
| EP2437662B1 (en) | 2019-09-11 |
| BRPI1008187A2 (en) | 2020-09-15 |
| CN102458246B (en) | 2014-09-17 |
| JP2012528657A (en) | 2012-11-15 |
| WO2010140130A1 (en) | 2010-12-09 |
| US20120065524A1 (en) | 2012-03-15 |
| US9510775B2 (en) | 2016-12-06 |
| RU2011152964A (en) | 2013-07-20 |
| JP5784590B2 (en) | 2015-09-24 |
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